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<div class="title">octree_pointcloud_voxelcentroid.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id: octree_pointcloud_voxelcentroid.hpp 6459 2012-07-18 07:50:37Z dpb $</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_OCTREE_VOXELCENTROID_HPP</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_OCTREE_VOXELCENTROID_HPP</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment"> * OctreePointCloudVoxelcontroid is not precompiled, since it&#39;s used in other</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment"> * parts of PCL with custom LeafContainers. So if PCL_NO_PRECOMPILE is NOT</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment"> * used, octree_pointcloud_voxelcentroid.h includes this file but octree_pointcloud.h</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment"> * would not include the implementation because it&#39;s precompiled. So we need to</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment"> * include it here &quot;manually&quot;.</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/impl/octree_pointcloud.hpp&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a1037bde81da535ae92644fd66426614f">   54</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a1037bde81da535ae92644fd66426614f">pcl::octree::OctreePointCloudVoxelCentroid&lt;PointT, LeafContainerT, BranchContainerT&gt;::getVoxelCentroidAtPoint</a> (</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; voxel_centroid_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  LeafContainerT* leaf = NULL;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="comment">// generate key</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  genOctreeKeyforPoint (point_arg, key);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  leaf = this-&gt;findLeaf (key);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordflow">if</span> (leaf)</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    leaf-&gt;getCentroid (voxel_centroid_arg);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordflow">return</span> (leaf != NULL);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;}</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a41e72dc35066b14f03f5e05f96f1b777">   72</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a41e72dc35066b14f03f5e05f96f1b777">pcl::octree::OctreePointCloudVoxelCentroid&lt;PointT, LeafContainerT, BranchContainerT&gt;::getVoxelCentroids</a> (</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">typename</span> OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT&gt;::AlignedPointTVector &amp;voxel_centroid_list_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> new_key;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">// reset output vector</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  voxel_centroid_list_arg.clear ();</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  voxel_centroid_list_arg.reserve (this-&gt;leaf_count_);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  getVoxelCentroidsRecursive (this-&gt;root_node_, new_key, voxel_centroid_list_arg );</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="comment">// return size of centroid vector</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordflow">return</span> (voxel_centroid_list_arg.size ());</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;}</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a76546713a226c897c7720e32639630a1">   89</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a76546713a226c897c7720e32639630a1">pcl::octree::OctreePointCloudVoxelCentroid&lt;PointT, LeafContainerT, BranchContainerT&gt;::getVoxelCentroidsRecursive</a> (</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>* branch_arg, <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg,</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keyword">typename</span> OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT&gt;::AlignedPointTVector &amp;voxel_centroid_list_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="comment">// child iterator</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="comment">// if child exist</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordflow">if</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#a124c5d4e99de29ddbbc1a3c51451074c">hasChild</a> (child_idx))</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="comment">// add current branch voxel to key</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      key_arg.<a class="code" href="classpcl_1_1octree_1_1_octree_key.html#acd563175ce0e72966a931bd0ddd351c8">pushBranch</a> (child_idx);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *child_node = branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#abed2439f134d5ea4b1dd05e3600b46fe">getChildPtr</a> (child_idx);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keywordflow">switch</span> (child_node-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">getNodeType</a> ())</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordflow">case</span> BRANCH_NODE:</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          getVoxelCentroidsRecursive (<span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>*<span class="keyword">&gt;</span> (child_node), key_arg, voxel_centroid_list_arg);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordflow">case</span> LEAF_NODE:</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> new_centroid;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>* container = <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          container-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a3fac458d85974341c2cfa18c10f65329">getContainer</a>().getCentroid (new_centroid);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          voxel_centroid_list_arg.push_back (new_centroid);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;       }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="comment">// pop current branch voxel from key</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      key_arg.<a class="code" href="classpcl_1_1octree_1_1_octree_key.html#a03f22cc621f65f27059ccc4df4d3137d">popBranch</a> ();</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    }</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;}</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_OctreePointCloudVoxelCentroid(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudVoxelCentroid&lt;T&gt;;</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html">pcl::octree::OctreeBranchNode</a></div><div class="ttdoc">Abstract octree branch class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_a124c5d4e99de29ddbbc1a3c51451074c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#a124c5d4e99de29ddbbc1a3c51451074c">pcl::octree::OctreeBranchNode::hasChild</a></div><div class="ttdeci">bool hasChild(unsigned char child_idx_arg) const</div><div class="ttdoc">Check if branch is pointing to a particular child node</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:292</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_abed2439f134d5ea4b1dd05e3600b46fe"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#abed2439f134d5ea4b1dd05e3600b46fe">pcl::octree::OctreeBranchNode::getChildPtr</a></div><div class="ttdeci">OctreeNode * getChildPtr(unsigned char child_idx_arg) const</div><div class="ttdoc">Get pointer to child</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:272</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html">pcl::octree::OctreeKey</a></div><div class="ttdoc">Octree key class</div><div class="ttdef"><b>Definition:</b> octree_key.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html_a03f22cc621f65f27059ccc4df4d3137d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html#a03f22cc621f65f27059ccc4df4d3137d">pcl::octree::OctreeKey::popBranch</a></div><div class="ttdeci">void popBranch()</div><div class="ttdoc">pop child node from octree key</div><div class="ttdef"><b>Definition:</b> octree_key.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html_acd563175ce0e72966a931bd0ddd351c8"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html#acd563175ce0e72966a931bd0ddd351c8">pcl::octree::OctreeKey::pushBranch</a></div><div class="ttdeci">void pushBranch(unsigned char childIndex)</div><div class="ttdoc">push a child node to the octree key</div><div class="ttdef"><b>Definition:</b> octree_key.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html">pcl::octree::OctreeLeafNode</a></div><div class="ttdoc">Abstract octree leaf class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html_a3fac458d85974341c2cfa18c10f65329"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html#a3fac458d85974341c2cfa18c10f65329">pcl::octree::OctreeLeafNode::getContainer</a></div><div class="ttdeci">const ContainerT &amp; getContainer() const</div><div class="ttdoc">Get const reference to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_node.html">pcl::octree::OctreeNode</a></div><div class="ttdoc">Abstract octree node class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_node_html_a5b8206e9608369db7d5c21d905d03e09"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">pcl::octree::OctreeNode::getNodeType</a></div><div class="ttdeci">virtual node_type_t getNodeType() const =0</div><div class="ttdoc">Pure virtual method for receiving the type of octree node (branch or leaf)</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_html_a1037bde81da535ae92644fd66426614f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a1037bde81da535ae92644fd66426614f">pcl::octree::OctreePointCloudVoxelCentroid::getVoxelCentroidAtPoint</a></div><div class="ttdeci">bool getVoxelCentroidAtPoint(const PointT &amp;point_arg, PointT &amp;voxel_centroid_arg) const</div><div class="ttdoc">Get centroid for a single voxel addressed by a PointT point.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.hpp:54</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_html_a41e72dc35066b14f03f5e05f96f1b777"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a41e72dc35066b14f03f5e05f96f1b777">pcl::octree::OctreePointCloudVoxelCentroid::getVoxelCentroids</a></div><div class="ttdeci">size_t getVoxelCentroids(typename OctreePointCloud&lt; PointT, LeafContainerT, BranchContainerT &gt;::AlignedPointTVector &amp;voxel_centroid_list_arg) const</div><div class="ttdoc">Get PointT vector of centroids for all occupied voxels.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.hpp:72</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_voxel_centroid_html_a76546713a226c897c7720e32639630a1"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_voxel_centroid.html#a76546713a226c897c7720e32639630a1">pcl::octree::OctreePointCloudVoxelCentroid::getVoxelCentroidsRecursive</a></div><div class="ttdeci">void getVoxelCentroidsRecursive(const BranchNode *branch_arg, OctreeKey &amp;key_arg, typename OctreePointCloud&lt; PointT, LeafContainerT, BranchContainerT &gt;::AlignedPointTVector &amp;voxel_centroid_list_arg) const</div><div class="ttdoc">Recursively explore the octree and output a PointT vector of centroids for all occupied voxels.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_voxelcentroid.hpp:89</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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